Quadcopter_Control

Introduction

In this project,we will learn the dynamics of the Quadcopter and implement control algorithms on it.

Altitude control of a 1D Quadcopter

Hover at height 1 m

2D trajectory tracking using PID controller

Goal was to track the given two dimensional trajectories while minimising the position error.

Line Trajectory

Sine Trajectory

Diamond Trajectory

3D trajectory tracking using PID controller

Goal was to track the given three dimensional trajectories while minimising the position error.

Helix Trajectory

Minimum Snap Trajectory through given waypoints

Graphs

Minimum Snap Trajectory following using PID

Minimum Snap Trajectory following using LQR

Comparison of Trajectory tracking error (LQR vs PID)

References

• Robotics: Aerial Robotics, by UPenn
• Euler Quaternions PDF
• Visualizing Quaternions
• State Space, by MATLAB Tech Talks
• Dynamic modeling, Simulation and PID controller of Unmanned Aerial Vehicle UAV
• Modelling and Stabilizing Control laws design based on Backstepping for an UAV type Quadrotor